Apparatuses for releasing a payload from an aerial tether

ABSTRACT

Described herein are apparatuses for passively releasing a payload of an unmanned aerial vehicle (UAV). An example apparatus may include, among other features, (i) a housing; (ii) a swing arm coupled to the housing, wherein the swing arm is operable to toggle between an open position and a closed position; (iii) a spring mechanism adapted to exert a force on the swing arm from the open position toward the closed position; (iv) a receiving system of a UAV adapted to receive the housing, wherein the receiving system causes the swing arm to be arranged in the open position; and (v) a spool operable to unwind and wind a tether coupled to the housing, wherein unwinding the tether causes a descent of the housing from the receiving system, and wherein winding the tether causes an ascent of the housing to the receiving system.

CROSS-REFERENCE TO RELATED APPLICATION

This application is a divisional of co-owned U.S. patent applicationSer. No. 15/179,585, filed on Jun. 10, 2016, which is incorporatedherein by reference in its entirety and for all purposes.

BACKGROUND

Unless otherwise indicated herein, the materials described in thissection are not prior art to the claims in this application and are notadmitted to be prior art by inclusion in this section.

An unmanned vehicle, which may also be referred to as an autonomousvehicle, is a vehicle capable of travel without a physically-presenthuman operator. An unmanned vehicle may operate in a remote-controlmode, in an autonomous mode, or in a partially autonomous mode.

When an unmanned vehicle operates in a remote-control mode, a pilot ordriver that is at a remote location can control the unmanned vehicle viacommands that are sent to the unmanned vehicle via a wireless link. Whenthe unmanned vehicle operates in autonomous mode, the unmanned vehicletypically moves based on pre-programmed navigation waypoints, dynamicautomation systems, or a combination of these. Further, some unmannedvehicles can operate in both a remote-control mode and an autonomousmode, and in some instances may do so simultaneously. For instance, aremote pilot or driver may wish to leave navigation to an autonomoussystem while manually performing another task, such as operating amechanical system for picking up objects, as an example.

Various types of unmanned vehicles exist for various differentenvironments. For instance, unmanned vehicles exist for operation in theair, on the ground, underwater, and in space. Examples includequad-copters and tail-sitter UAVs, among others. Unmanned vehicles alsoexist for hybrid operations in which multi-environment operation ispossible. Examples of hybrid unmanned vehicles include an amphibiouscraft that is capable of operation on land as well as on water or afloatplane that is capable of landing on water as well as on land. Otherexamples are also possible.

SUMMARY

Unmanned aerial vehicles (UAVs) may be used to transport payloads tovarious target locations. In order to automate transportation anddelivery of a payload, a UAV may be configured to detach the payloadfrom the UAV upon reaching a target location without human intervention.One way to do this is through active, or powered, release mechanisms.Such active release mechanisms may include various electronics, powersupplies, and robotic devices, which can add size, weight, andcomplexity to the UAV. Further, detaching the payload from the UAV mayinvolve lowering the payload to the ground by a tether, and, as such, itmay be difficult to send power or electronic communications to an activerelease mechanism due to the remoteness of the payload from the UAV.Thus, the present disclosure discloses apparatuses for passively (i.e.,without the use of electricity) releasing a payload from a UAV tether inorder to help address these or other issues.

In one aspect, an apparatus includes: (i) a housing; (ii) a swing armcoupled to the housing proximate to a first end of the swing arm,wherein the swing arm is operable to toggle between an open position anda closed position, wherein the closed position locates a second end ofthe swing arm within the housing, wherein the open position exposes thesecond end of the swing arm outside the housing at an acute angle withrespect to a sidewall of the housing, and wherein the swing arm isadapted to secure a payload of an aerial vehicle when arranged in theopen position; (iii) a spring mechanism adapted to exert a force on theswing arm, wherein the force is exerted in a direction from the openposition toward the closed position; (iv) a receiving system adapted toreceive the housing, wherein the receiving system contacts a cam of theswing arm when receiving the housing, thereby causing the swing arm tobe arranged in the open position, and wherein the receiving system isfurther adapted to be coupled to the aerial vehicle; and (v) a spooloperable to unwind and wind a tether coupled to the housing, whereinunwinding the tether causes a descent of the housing from the receivingsystem, and wherein winding the tether causes an ascent of the housingto the receiving system.

In another aspect, an apparatus includes: (i) a housing; (ii) a firstswing arm coupled to the housing proximate to a first end of the firstswing arm, wherein the first swing arm is operable to toggle between afirst open position and a first closed position, wherein the firstclosed position locates a second end of the first swing arm within thehousing, wherein the first open position exposes the second end of thefirst swing arm outside the housing at an acute angle with respect to afirst sidewall of the housing, and wherein the first swing arm isadapted to secure a payload of an aerial vehicle when arranged in thefirst open position; (iii) a second swing arm coupled to the housingproximate to a first end of the second swing arm, wherein the secondswing arm is operable to toggle between a second open position and asecond closed position, wherein the second closed position locates asecond end of the second swing arm within the housing, wherein thesecond open position exposes the second end of the second swing armoutside the housing at an acute angle with respect to a second sidewallof the housing, and wherein the second swing arm is adapted to securethe payload of the aerial vehicle when arranged in the second openposition; (iv) a spring mechanism coupled between the first and secondswing arms, wherein the spring mechanism is in a rest state when thefirst and second swing arms are in the first and second closedpositions; (v) a receiving system adapted to receive the housing,wherein the receiving system contacts a cam of one of the first orsecond swing arms when receiving the housing, thereby causing the otherof the first or second swing arms to be arranged in its respective openposition, and wherein the receiving system is further adapted to becoupled to the aerial vehicle; and (vi) a spool operable to unwind andwind a tether coupled to the housing, wherein unwinding the tethercauses a descent of the housing from the receiving system, and whereinwinding the tether causes an ascent of the housing to the receivingsystem.

These as well as other aspects, advantages, and alternatives will becomeapparent to those of ordinary skill in the art by reading the followingdetailed description with reference where appropriate to theaccompanying drawings. Further, it should be understood that thedescription provided in this summary section and elsewhere in thisdocument is intended to illustrate the claimed subject matter by way ofexample and not by way of limitation.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1A is a simplified illustration of an unmanned aerial vehicle,according to an example embodiment.

FIG. 1B is a simplified illustration of an unmanned aerial vehicle,according to an example embodiment.

FIG. 1C is a simplified illustration of an unmanned aerial vehicle,according to an example embodiment.

FIG. 1D is a simplified illustration of an unmanned aerial vehicle,according to an example embodiment.

FIG. 1E is a simplified illustration of an unmanned aerial vehicle,according to an example embodiment.

FIG. 2 is a simplified block diagram illustrating components of anunmanned aerial vehicle, according to an example embodiment.

FIG. 3 is a simplified block diagram illustrating a UAV system,according to an example embodiment.

FIG. 4 is an illustration of an apparatus for passively releasing apayload, according to an example embodiment.

FIG. 5A is an illustration of an apparatus for passively releasing apayload, according to an example embodiment.

FIG. 5B is an illustration of an apparatus for passively releasing apayload, according to an example embodiment.

FIG. 6 is an illustration of an apparatus for passively releasing apayload, according to an example embodiment.

FIG. 7A is an illustration of an apparatus for passively releasing apayload, according to an example embodiment.

FIG. 7B is an illustration of an apparatus for passively releasing apayload, according to an example embodiment.

FIG. 8A is an illustration of an apparatus for passively releasing apayload, according to an example embodiment.

FIG. 8B is an illustration of an apparatus for passively releasing apayload, according to an example embodiment.

DETAILED DESCRIPTION

The following detailed description describes various features andfunctions of the disclosure with reference to the accompanying Figures.In the Figures, similar symbols typically identify similar components,unless context dictates otherwise. The illustrative apparatusesdescribed herein are not meant to be limiting. It will be readilyunderstood that certain aspects of the disclosure can be arranged andcombined in a wide variety of different configurations, all of which arecontemplated herein.

I. Overview

A UAV may be used to transport and deliver a payload from a sourcelocation to a target location. For instance, a person may purchase anitem or place a food order via an online marketplace, and a UAV maydeliver the purchased food or other item to the person. Such UAVdelivery systems may allow for rapid delivery by avoiding delays causedby traffic, package sorting facilities, and human error, among othersources of delay.

In order to deliver the payload, the UAV may include various mechanismsto secure the payload during transport and release the payload upondelivery. Example embodiments may take the form of or otherwise relateto an apparatus for passively attaching a payload to a UAV for transportand releasing the payload upon delivery.

The apparatus may include a housing coupled to the UAV by a tether thatmay be wound and unwound to raise and lower the housing with respect tothe UAV. The housing may include one or more swing arms adapted toextend from the housing at an acute angle, forming a hook on which thepayload may be attached. When the housing and attached payload arelowered from the UAV (e.g., by unwinding the tether) to a transportlocation below the UAV (e.g., the ground), the payload may detach fromthe hook.

For instance, once the payload reaches the ground, the UAV may continueto lower the housing, and a gravitational and/or an inertial force onthe housing may cause the swing arm hook to detach from the payload.Upon detaching from the payload, the swing arm may be adapted to retractinto the housing, and the housing may ascend (e.g., by winding thetether) toward the UAV, leaving the payload on the ground. As thehousing approaches the UAV, a device adapted to receive the housing mayengage a cam of the swing arm causing the swing arm to extend from thehousing at an acute angle, thereby forming a hook for securing anotherpayload for delivery by the UAV.

II. Illustrative Unmanned Vehicles

Herein, the terms “unmanned aerial vehicle” and “UAV” refer to anyautonomous or semi-autonomous vehicle that is capable of performing somefunctions without a physically present human pilot.

A UAV can take various forms. For example, a UAV may take the form of afixed-wing aircraft, a glider aircraft, a tail-sitter aircraft, a jetaircraft, a ducted fan aircraft, a lighter-than-air dirigible such as ablimp or steerable balloon, a rotorcraft such as a helicopter ormulticopter, and/or an ornithopter, among other possibilities. Further,the terms “drone,” “unmanned aerial vehicle system” (UAVS), or “unmannedaerial system” (UAS) may also be used to refer to a UAV.

FIG. 1A is a simplified illustration providing a top-down view of a UAV,according to an example embodiment. In particular, FIG. 1A shows anexample of a fixed-wing UAV 100, which may also be referred to as anairplane, an aeroplane, a biplane, a glider, or a plane, among otherpossibilities. The fixed-wing UAV 100, as the name implies, hasstationary wings 102 that generate lift based on the wing shape and thevehicle's forward airspeed. For instance, the two wings 102 may have anairfoil-shaped cross section to produce an aerodynamic force on the UAV100.

As depicted, the fixed-wing UAV 100 may include a wing body 104 ratherthan a clearly defined fuselage. The wing body 104 may contain, forexample, control electronics such as an inertial measurement unit (IMU)and/or an electronic speed controller, batteries, other sensors, and/ora payload, among other possibilities. The illustrative UAV 100 may alsoinclude landing gear (not shown) to assist with controlled take-offs andlandings. In other embodiments, other types of UAVs without landing gearare also possible.

The UAV 100 further includes propulsion units 106, which can eachinclude a motor, shaft, and propeller, for propelling the UAV 100.Vertical stabilizers 108 (or fins) may also be attached to the wing body104 and/or the wings 102 to stabilize the UAV's yaw (turn left or right)during flight. In some embodiments, the UAV 100 may be also beconfigured to function as a glider. To do so, UAV 100 may power off itsmotor, propulsion units, etc., and glide for a period of time.

During flight, the UAV 100 may control the direction and/or speed of itsmovement by controlling its pitch, roll, yaw, and/or altitude. Forexample, the vertical stabilizers 108 may include one or more ruddersfor controlling the UAV's yaw, and the wings 102 may include one or moreelevators for controlling the UAV's pitch and/or one or more aileronsfor controlling the UAV's roll. As another example, increasing ordecreasing the speed of all the propellers simultaneously can result inthe UAV 100 increasing or decreasing its altitude, respectively.

Similarly, FIG. 1B shows another example of a fixed-wing UAV 120. Thefixed-wing UAV 120 includes a fuselage 122, two wings 124 with anairfoil-shaped cross section to provide lift for the UAV 120, a verticalstabilizer 126 (or fin) to stabilize the plane's yaw (turn left orright), a horizontal stabilizer 128 (also referred to as an elevator ortailplane) to stabilize pitch (tilt up or down), landing gear 130, and apropulsion unit 132, which can include a motor, shaft, and propeller.

FIG. 1C shows an example of a UAV 140 with a propeller in a pusherconfiguration. The term “pusher” refers to the fact that a propulsionunit 142 is mounted at the back of the UAV and “pushes” the vehicleforward, in contrast to the propulsion unit being mounted at the frontof the UAV. Similar to the description provided for FIGS. 1A and 1B,FIG. 1C depicts common structures used in a pusher plane, including afuselage 144, two wings 146, vertical stabilizers 148, and thepropulsion unit 142, which can include a motor, shaft, and propeller.

FIG. 1D shows an example of a tail-sitter UAV 160. In the illustratedexample, the tail-sitter UAV 160 has fixed wings 162 to provide lift andallow the UAV 160 to glide horizontally (e.g., along the x-axis, in aposition that is approximately perpendicular to the position shown inFIG. 1D). However, the fixed wings 162 also allow the tail-sitter UAV160 to take off and land vertically on its own.

For example, at a launch site, the tail-sitter UAV 160 may be positionedvertically (as shown) with its fins 164 and/or wings 162 resting on theground and stabilizing the UAV 160 in the vertical position. Thetail-sitter UAV 160 may then take off by operating its propellers 166 togenerate an upward thrust (e.g., a thrust that is generally along they-axis). Once at a suitable altitude, the tail-sitter UAV 160 may useits flaps 168 to reorient itself in a horizontal position, such that itsfuselage 170 is closer to being aligned with the x-axis than the y-axis.Positioned horizontally, the propellers 166 may provide forward thrustso that the tail-sitter UAV 160 can fly in a similar manner as a typicalairplane.

Many variations on the illustrated fixed-wing UAVs are possible. Forinstance, fixed-wing UAVs may include more or fewer propellers, and/ormay utilize a ducted fan or multiple ducted fans for propulsion.Further, UAVs with more wings (e.g., an “x-wing” configuration with fourwings), with fewer wings, or even with no wings, are also possible.

As noted above, some embodiments may involve other types of UAVs, inaddition to or in the alternative to fixed-wing UAVs. For instance, FIG.1E shows an example of a rotorcraft that is commonly referred to as amulticopter 180. The multicopter 180 may also be referred to as aquadcopter, as it includes four rotors 182. It should be understood thatexample embodiments may involve a rotorcraft with more or fewer rotorsthan the multicopter 180. For example, a helicopter typically has tworotors. Other examples with three or more rotors are possible as well.Herein, the term “multicopter” refers to any rotorcraft having more thantwo rotors, and the term “helicopter” refers to rotorcraft having tworotors.

Referring to the multicopter 180 in greater detail, the four rotors 182provide propulsion and maneuverability for the multicopter 180. Morespecifically, each rotor 182 includes blades that are attached to amotor 184. Configured as such, the rotors 182 may allow the multicopter180 to take off and land vertically, to maneuver in any direction,and/or to hover. Further, the pitch of the blades may be adjusted as agroup and/or differentially, and may allow the multicopter 180 tocontrol its pitch, roll, yaw, and/or altitude.

It should be understood that references herein to an “unmanned” aerialvehicle or UAV can apply equally to autonomous and semi-autonomousaerial vehicles. In an autonomous implementation, all functionality ofthe aerial vehicle is automated; e.g., pre-programmed or controlled viareal-time computer functionality that responds to input from varioussensors and/or pre-determined information. In a semi-autonomousimplementation, some functions of an aerial vehicle may be controlled bya human operator, while other functions are carried out autonomously.Further, in some embodiments, a UAV may be configured to allow a remoteoperator to take over functions that can otherwise be controlledautonomously by the UAV. Yet further, a given type of function may becontrolled remotely at one level of abstraction and performedautonomously at another level of abstraction. For example, a remoteoperator could control high level navigation decisions for a UAV, suchas by specifying that the UAV should travel from one location to another(e.g., from a warehouse in a suburban area to a delivery address in anearby city), while the UAV's navigation system autonomously controlsmore fine-grained navigation decisions, such as the specific route totake between the two locations, specific flight controls to achieve theroute and avoid obstacles while navigating the route, and so on.

More generally, it should be understood that the example UAVs describedherein are not intended to be limiting. Example embodiments may relateto, be implemented within, or take the form of any type of unmannedaerial vehicle.

III. Illustrative UAV Components

FIG. 2 is a simplified block diagram illustrating components of a UAV200, according to an example embodiment. UAV 200 may take the form of,or be similar in form to, one of the UAVs 100, 120, 140, 160, and 180described in reference to FIGS. 1A-1E. However, UAV 200 may also takeother forms.

UAV 200 may include various types of sensors, and may include acomputing system configured to provide the functionality describedherein. In the illustrated embodiment, the sensors of UAV 200 include aninertial measurement unit (IMU) 202, ultrasonic sensor(s) 204, and a GPS206, among other possible sensors and sensing systems.

In the illustrated embodiment, UAV 200 also includes one or moreprocessors 208. A processor 208 may be a general-purpose processor or aspecial purpose processor (e.g., digital signal processors, applicationspecific integrated circuits, etc.). The one or more processors 208 canbe configured to execute computer-readable program instructions 212 thatare stored in the data storage 210 and are executable to provide thefunctionality of a UAV described herein.

The data storage 210 may include or take the form of one or morecomputer-readable storage media that can be read or accessed by at leastone processor 208. The one or more computer-readable storage media caninclude volatile and/or non-volatile storage components, such asoptical, magnetic, organic or other memory or disc storage, which can beintegrated in whole or in part with at least one of the one or moreprocessors 208. In some embodiments, the data storage 210 can beimplemented using a single physical device (e.g., one optical, magnetic,organic or other memory or disc storage unit), while in otherembodiments, the data storage 210 can be implemented using two or morephysical devices.

As noted, the data storage 210 can include computer-readable programinstructions 212 and perhaps additional data, such as diagnostic data ofthe UAV 200. As such, the data storage 210 may include programinstructions 212 to perform or facilitate some or all of the UAVfunctionality described herein. For instance, in the illustratedembodiment, program instructions 212 include a navigation module 214.

A. Sensors

In an illustrative embodiment, IMU 202 may include both an accelerometerand a gyroscope, which may be used together to determine an orientationof the UAV 200. In particular, the accelerometer can measure theorientation of the vehicle with respect to earth, while the gyroscopemeasures the rate of rotation around an axis. IMUs are commerciallyavailable in low-cost, low-power packages. For instance, an IMU 202 maytake the form of or include a miniaturized MicroElectroMechanical System(MEMS) or a NanoElectroMechanical System (NEMS). Other types of IMUs mayalso be utilized.

An IMU 202 may include other sensors, in addition to accelerometers andgyroscopes, which may help to better determine position and/or help toincrease autonomy of the UAV 200. Two examples of such sensors aremagnetometers and pressure sensors. In some embodiments, a UAV mayinclude a low-power, digital 3-axis magnetometer, which can be used torealize an orientation independent electronic compass for accurateheading information. However, other types of magnetometers may beutilized as well. Other examples are also possible. Further, note that aUAV could include some or all of the above-described inertia sensors asseparate components from an IMU.

UAV 200 may also include a pressure sensor or barometer, which can beused to determine the altitude of the UAV 200. Alternatively, othersensors, such as sonic altimeters or radar altimeters, can be used toprovide an indication of altitude, which may help to improve theaccuracy of and/or prevent drift of an IMU.

In a further aspect, UAV 200 may include one or more sensors that allowthe UAV to sense objects in the environment. For instance, in theillustrated embodiment, UAV 200 includes ultrasonic sensor(s) 204.Ultrasonic sensor(s) 204 can determine the distance to an object bygenerating sound waves and determining the time interval betweentransmission of the wave and receiving the corresponding echo off anobject. A typical application of an ultrasonic sensor for unmannedvehicles or IMUs is low-level altitude control and obstacle avoidance.An ultrasonic sensor can also be used for vehicles that need to hover ata certain height or need to be capable of detecting obstacles. Othersystems can be used to determine, sense the presence of, and/ordetermine the distance to nearby objects, such as a light detection andranging (LIDAR) system, laser detection and ranging (LADAR) system,and/or an infrared or forward-looking infrared (FLIR) system, amongother possibilities.

In some embodiments, UAV 200 may also include one or more imagingsystem(s). For example, one or more still and/or video cameras may beutilized by UAV 200 to capture image data from the UAV's environment. Asa specific example, charge-coupled device (CCD) cameras or complementarymetal-oxide-semiconductor (CMOS) cameras can be used with unmannedvehicles. Such imaging sensor(s) have numerous possible applications,such as obstacle avoidance, localization techniques, ground tracking formore accurate navigation (e,g., by applying optical flow techniques toimages), video feedback, and/or image recognition and processing, amongother possibilities.

UAV 200 may also include a GPS receiver 206. The GPS receiver 206 may beconfigured to provide data that is typical of well-known GPS systems,such as the GPS coordinates of the UAV 200. Such GPS data may beutilized by the UAV 200 for various functions. As such, the UAV may useits GPS receiver 206 to help navigate to the caller's location, asindicated, at least in part, by the GPS coordinates provided by theirmobile device. Other examples are also possible.

B. Navigation and Location Determination

The navigation module 214 may provide functionality that allows the UAV200 to, e.g., move about its environment and reach a desired location.To do so, the navigation module 214 may control the altitude and/ordirection of flight by controlling the mechanical features of the UAVthat affect flight (e.g., its rudder(s), elevator(s), aileron(s), and/orthe speed of its propeller(s)).

In order to navigate the UAV 200 to a target location, the navigationmodule 214 may implement various navigation techniques, such asmap-based navigation and localization-based navigation, for instance.With map-based navigation, the UAV 200 may be provided with a map of itsenvironment, which may then be used to navigate to a particular locationon the map. With localization-based navigation, the UAV 200 may becapable of navigating in an unknown environment using localization.Localization-based navigation may involve the UAV 200 building its ownmap of its environment and calculating its position within the mapand/or the position of objects in the environment. For example, as a UAV200 moves throughout its environment, the UAV 200 may continuously uselocalization to update its map of the environment. This continuousmapping process may be referred to as simultaneous localization andmapping (SLAM). Other navigation techniques may also be utilized.

In some embodiments, the navigation module 214 may navigate using atechnique that relies on waypoints. In particular, waypoints are sets ofcoordinates that identify points in physical space. For instance, anair-navigation waypoint may be defined by a certain latitude, longitude,and altitude. Accordingly, navigation module 214 may cause UAV 200 tomove from waypoint to waypoint, in order to ultimately travel to a finaldestination (e.g., a final waypoint in a sequence of waypoints).

In a further aspect, the navigation module 214 and/or other componentsand systems of the UAV 200 may be configured for “localization” to moreprecisely navigate to the scene of a target location. More specifically,it may be desirable in certain situations for a UAV to be within athreshold distance of the target location where a payload 220 is beingdelivered by a UAV (e.g., within a few feet of the target destination).To this end, a UAV may use a two-tiered approach in which it uses amore-general location-determination technique to navigate to a generalarea that is associated with the target location, and then use amore-refined location-determination technique to identify and/ornavigate to the target location within the general area.

For example, the UAV 200 may navigate to the general area of a targetdestination where a payload 220 is being delivered using waypointsand/or map-based navigation. The UAV may then switch to a mode in whichit utilizes a localization process to locate and travel to a morespecific location. For instance, if the UAV 200 is to deliver a payloadto a user's home, the UAV 200 may need to be substantially close to thetarget location in order to avoid delivery of the payload to undesiredareas (e.g., onto a roof, into a pool, onto a neighbor's property,etc.). However, a GPS signal may only get the UAV 200 so far (e.g.,within a block of the user's home). A more preciselocation-determination technique may then be used to find the specifictarget location.

Various types of location-determination techniques may be used toaccomplish localization of the target delivery location once the UAV 200has navigated to the general area of the target delivery location. Forinstance, the UAV 200 may be equipped with one or more sensory systems,such as, for example, ultrasonic sensors 204, infrared sensors (notshown), and/or other sensors, which may provide input that thenavigation module 214 utilizes to navigate autonomously orsemi-autonomously to the specific target location.

As another example, once the UAV 200 reaches the general area of thetarget delivery location (or of a moving subject such as a person ortheir mobile device), the UAV 200 may switch to a “fly-by-wire” modewhere it is controlled, at least in part, by a remote operator, who cannavigate the UAV 200 to the specific target location. To this end,sensory data from the UAV 200 may be sent to the remote operator toassist them in navigating the UAV 200 to the specific location.

As yet another example, the UAV 200 may include a module that is able tosignal to a passer-by for assistance in either reaching the specifictarget delivery location; for example, the UAV 200 may display a visualmessage requesting such assistance in a graphic display, play an audiomessage or tone through speakers to indicate the need for suchassistance, among other possibilities. Such a visual or audio messagemight indicate that assistance is needed in delivering the UAV 200 to aparticular person or a particular location, and might provideinformation to assist the passer-by in delivering the UAV 200 to theperson or location (e.g., a description or picture of the person orlocation, and/or the person or location's name), among otherpossibilities. Such a feature can be useful in a scenario in which theUAV is unable to use sensory functions or another location-determinationtechnique to reach the specific target location. However, this featureis not limited to such scenarios.

In some embodiments, once the UAV 200 arrives at the general area of atarget delivery location, the UAV 200 may utilize a beacon from a user'sremote device (e.g., the user's mobile phone) to locate the person. Sucha beacon may take various forms. As an example, consider the scenariowhere a remote device, such as the mobile phone of a person whorequested a UAV delivery, is able to send out directional signals (e.g.,via an RF signal, a light signal and/or an audio signal). In thisscenario, the UAV 200 may be configured to navigate by “sourcing” suchdirectional signals—in other words, by determining where the signal isstrongest and navigating accordingly. As another example, a mobiledevice can emit a frequency, either in the human range or outside thehuman range, and the UAV 200 can listen for that frequency and navigateaccordingly. As a related example, if the UAV 200 is listening forspoken commands, then the UAV 200 could utilize spoken statements, suchas “I'm over here!” to source the specific location of the personrequesting delivery of a payload.

In an alternative arrangement, a navigation module may be implemented ata remote computing device, which communicates wirelessly with the UAV200. The remote computing device may receive data indicating theoperational state of the UAV 200, sensor data from the UAV 200 thatallows it to assess the environmental conditions being experienced bythe UAV 200, and/or location information for the UAV 200. Provided withsuch information, the remote computing device may determine altitudinaland/or directional adjustments that should be made by the UAV 200 and/ormay determine how the UAV 200 should adjust its mechanical features(e.g., its rudder(s), elevator(s), aileron(s), and/or the speed of itspropeller(s)) in order to effectuate such movements. The remotecomputing system may then communicate such adjustments to the UAV 200 soit can move in the determined manner.

C. Communication Systems

In a further aspect, the UAV 200 includes one or more communicationsystems 216. The communications systems 216 may include one or morewireless interfaces and/or one or more wireline interfaces, which allowthe UAV 200 to communicate via one or more networks. Such wirelessinterfaces may provide for communication under one or more wirelesscommunication protocols, such as Bluetooth, WiFi (e.g., an IEEE 802.11protocol), Long-Term Evolution (LTE), WiMAX (e.g., an IEEE 802.16standard), a radio-frequency ID (RFID) protocol, near-fieldcommunication (NFC), and/or other wireless communication protocols. Suchwireline interfaces may include an Ethernet interface, a UniversalSerial Bus (USB) interface, or similar interface to communicate via awire, a twisted pair of wires, a coaxial cable, an optical link, afiber-optic link, or other physical connection to a wireline network.

In some embodiments, a UAV 200 may include communication systems 216that allow for both short-range communication and long-rangecommunication. For example, the UAV 200 may be configured forshort-range communications using Bluetooth and for long-rangecommunications under a CDMA protocol. In such an embodiment, the UAV 200may be configured to function as a “hot spot;” or in other words, as agateway or proxy between a remote support device and one or more datanetworks, such as a cellular network and/or the Internet. Configured assuch, the UAV 200 may facilitate data communications that the remotesupport device would otherwise be unable to perform by itself.

For example, the UAV 200 may provide a WiFi connection to a remotedevice, and serve as a proxy or gateway to a cellular service provider'sdata network, which the UAV might connect to under an LTE or a 3Gprotocol, for instance. The UAV 200 could also serve as a proxy orgateway to a high-altitude balloon network, a satellite network, or acombination of these networks, among others, which a remote device mightnot be able to otherwise access.

D. Power Systems

In a further aspect, the UAV 200 may include power system(s) 218. Thepower system 218 may include one or more batteries for providing powerto the UAV 200. In one example, the one or more batteries may berechargeable and each battery may be recharged via a wired connectionbetween the battery and a power supply and/or via a wireless chargingsystem, such as an inductive charging system that applies an externaltime-varying magnetic field to an internal battery.

E. Payloads

The UAV 200 may employ various systems and configurations in order totransport a payload 220. In some implementations, the payload 220 of agiven UAV 200 may include or take the form of a “package” designed totransport various goods to a target delivery location. For example, theUAV 200 can include a compartment, in which an item or items may betransported. Such a package may one or more food items, purchased goods,medical items, or any other object(s) having a size and weight suitableto be transported between two locations by the UAV. In otherembodiments, a payload 220 may simply be the one or more items that arebeing delivered (e.g., without any package housing the items).

In some embodiments, the payload 220 may be attached to the UAV andlocated substantially outside of the UAV during some or all of a flightby the UAV. For example, the package may be tethered or otherwisereleasably attached below the UAV during flight to a target location. Inan embodiment where a package carries goods below the UAV, the packagemay include various features that protect its contents from theenvironment, reduce aerodynamic drag on the system, and prevent thecontents of the package from shifting during UAV flight.

For instance, when the payload 220 takes the form of a package fortransporting items, the package may include an outer shell constructedof water-resistant cardboard, plastic, or any other lightweight andwater-resistant material. Further, in order to reduce drag, the packagemay feature smooth surfaces with a pointed front that reduces thefrontal cross-sectional area. Further, the sides of the package maytaper from a wide bottom to a narrow top, which allows the package toserve as a narrow pylon that reduces interference effects on the wing(s)of the UAV. This may move some of the frontal area and volume of thepackage away from the wing(s) of the UAV, thereby preventing thereduction of lift on the wing(s) cause by the package. Yet further, insome embodiments, the outer shell of the package may be constructed froma single sheet of material in order to reduce air gaps or extramaterial, both of which may increase drag on the system. Additionally oralternatively, the package may include a stabilizer to dampen packageflutter. This reduction in flutter may allow the package to have a lessrigid connection to the UAV and may cause the contents of the package toshift less during flight.

In order to deliver the payload, the UAV may include a retractabledelivery system that lowers the payload to the ground while the UAVhovers above. For instance, the UAV may include a tether that is coupledto the payload by a release mechanism. A winch can unwind and wind thetether to lower and raise the release mechanism. The release mechanismcan be configured to secure the payload while being lowered from the UAVby the tether and release the payload upon reaching ground level. Therelease mechanism can then be retracted to the UAV by reeling in thetether using the winch.

In some implementations, the payload 220 may be passively released onceit is lowered to the ground. For example, a passive release mechanismmay include one or more swing arms adapted to retract into and extendfrom a housing. An extended swing arm may form a hook on which thepayload 220 may be attached. Upon lowering the release mechanism and thepayload 220 to the ground via a tether, a gravitational force as well asa downward inertial force on the release mechanism may cause the payload220 to detach from the hook allowing the release mechanism to be raisedupwards toward the UAV. The release mechanism may further include aspring mechanism that biases the swing arm to retract into the housingwhen there are no other external forces on the swing arm. For instance,a spring may exert a force on the swing arm that pushes or pulls theswing arm toward the housing such that the swing arm retracts into thehousing once the weight of the payload 220 no longer forces the swingarm to extend from the housing. Retracting the swing arm into thehousing may reduce the likelihood of the release mechanism snagging thepayload 220 or other nearby objects when raising the release mechanismtoward the UAV upon delivery of the payload 220.

Active payload release mechanisms are also possible. For example,sensors such as a barometric pressure based altimeter and/oraccelerometers may help to detect the position of the release mechanism(and the payload) relative to the ground. Data from the sensors can becommunicated back to the UAV and/or a control system over a wirelesslink and used to help in determining when the release mechanism hasreached ground level (e.g., by detecting a measurement with theaccelerometer that is characteristic of ground impact). In otherexamples, the UAV may determine that the payload has reached the groundbased on a weight sensor detecting a threshold low downward force on thetether and/or based on a threshold low measurement of power drawn by thewinch when lowering the payload.

Other systems and techniques for delivering a payload, in addition or inthe alternative to a tethered delivery system are also possible. Forexample, a UAV 200 could include an air-bag drop system or a parachutedrop system. Alternatively, a UAV 200 carrying a payload could simplyland on the ground at a delivery location. Other examples are alsopossible.

IV. Illustrative UAV Deployment Systems

UAV systems may be implemented in order to provide various UAV-relatedservices. In particular, UAVs may be provided at a number of differentlaunch sites that may be in communication with regional and/or centralcontrol systems. Such a distributed UAV system may allow UAVs to bequickly deployed to provide services across a large geographic area(e.g., that is much larger than the flight range of any single UAV). Forexample, UAVs capable of carrying payloads may be distributed at anumber of launch sites across a large geographic area (possibly eventhroughout an entire country, or even worldwide), in order to provideon-demand transport of various items to locations throughout thegeographic area. FIG. 3 is a simplified block diagram illustrating adistributed UAV system 300, according to an example embodiment.

In the illustrative UAV system 300, an access system 302 may allow forinteraction with, control of, and/or utilization of a network of UAVs304. In some embodiments, an access system 302 may be a computing systemthat allows for human-controlled dispatch of UAVs 304. As such, thecontrol system may include or otherwise provide a user interface throughwhich a user can access and/or control the UAVs 304.

In some embodiments, dispatch of the UAVs 304 may additionally oralternatively be accomplished via one or more automated processes. Forinstance, the access system 302 may dispatch one of the UAVs 304 totransport a payload to a target location, and the UAV may autonomouslynavigate to the target location by utilizing various on-board sensors,such as a GPS receiver and/or other various navigational sensors.

Further, the access system 302 may provide for remote operation of aUAV. For instance, the access system 302 may allow an operator tocontrol the flight of a UAV via its user interface. As a specificexample, an operator may use the access system 302 to dispatch a UAV 304to a target location. The UAV 304 may then autonomously navigate to thegeneral area of the target location. At this point, the operator may usethe access system 302 to take control of the UAV 304 and navigate theUAV to the target location (e.g., to a particular person to whom apayload is being transported). Other examples of remote operation of aUAV are also possible.

In an illustrative embodiment, the UAVs 304 may take various forms. Forexample, each of the UAVs 304 may be a UAV such as those illustrated inFIG. 1, 2, 3, or 4. However, UAV system 300 may also utilize other typesof UAVs without departing from the scope of the invention. In someimplementations, all of the UAVs 304 may be of the same or a similarconfiguration. However, in other implementations, the UAVs 304 mayinclude a number of different types of UAVs. For instance, the UAVs 304may include a number of types of UAVs, with each type of UAV beingconfigured for a different type or types of payload deliverycapabilities.

The UAV system 300 may further include a remote device 306, which maytake various forms. Generally, the remote device 306 may be any devicethrough which a direct or indirect request to dispatch a UAV can bemade. (Note that an indirect request may involve any communication thatmay be responded to by dispatching a UAV, such as requesting a packagedelivery). In an example embodiment, the remote device 306 may be amobile phone, tablet computer, laptop computer, personal computer, orany network-connected computing device. Further, in some instances, theremote device 306 may not be a computing device. As an example, astandard telephone, which allows for communication via plain oldtelephone service (POTS), may serve as the remote device 306. Othertypes of remote devices are also possible.

Further, the remote device 306 may be configured to communicate withaccess system 302 via one or more types of communication network(s) 308.For example, the remote device 306 may communicate with the accesssystem 302 (or a human operator of the access system 302) bycommunicating over a POTS network, a cellular network, and/or a datanetwork such as the Internet. Other types of networks may also beutilized.

In some embodiments, the remote device 306 may be configured to allow auser to request delivery of one or more items to a desired location. Forexample, a user could request UAV delivery of a package to their homevia their mobile phone, tablet, or laptop. As another example, a usercould request dynamic delivery to wherever they are located at the timeof delivery. To provide such dynamic delivery, the UAV system 300 mayreceive location information (e.g., GPS coordinates, etc.) from theuser's mobile phone, or any other device on the user's person, such thata UAV can navigate to the user's location (as indicated by their mobilephone).

In an illustrative arrangement, the central dispatch system 310 may be aserver or group of servers, which is configured to receive dispatchmessages requests and/or dispatch instructions from the access system302. Such dispatch messages may request or instruct the central dispatchsystem 310 to coordinate the deployment of UAVs to various targetlocations. The central dispatch system 310 may be further configured toroute such requests or instructions to one or more local dispatchsystems 312. To provide such functionality, the central dispatch system310 may communicate with the access system 302 via a data network, suchas the Internet or a private network that is established forcommunications between access systems and automated dispatch systems.

In the illustrated configuration, the central dispatch system 310 may beconfigured to coordinate the dispatch of UAVs 304 from a number ofdifferent local dispatch systems 312. As such, the central dispatchsystem 310 may keep track of which UAVs 304 are located at which localdispatch systems 312, which UAVs 304 are currently available fordeployment, and/or which services or operations each of the UAVs 304 isconfigured for (in the event that a UAV fleet includes multiple types ofUAVs configured for different services and/or operations). Additionallyor alternatively, each local dispatch system 312 may be configured totrack which of its associated UAVs 304 are currently available fordeployment and/or are currently in the midst of item transport.

In some cases, when the central dispatch system 310 receives a requestfor UAV-related service (e.g., transport of an item) from the accesssystem 302, the central dispatch system 310 may select a specific UAV304 to dispatch. The central dispatch system 310 may accordinglyinstruct the local dispatch system 312 that is associated with theselected UAV to dispatch the selected UAV. The local dispatch system 312may then operate its associated deployment system 314 to launch theselected UAV. In other cases, the central dispatch system 310 mayforward a request for a UAV-related service to a local dispatch system312 that is near the location where the support is requested and leavethe selection of a particular UAV 304 to the local dispatch system 312.

In an example configuration, the local dispatch system 312 may beimplemented as a computing system at the same location as the deploymentsystem(s) 314 that it controls. For example, the local dispatch system312 may be implemented by a computing system installed at a building,such as a warehouse, where the deployment system(s) 314 and UAV(s) 304that are associated with the particular local dispatch system 312 arealso located. In other embodiments, the local dispatch system 312 may beimplemented at a location that is remote to its associated deploymentsystem(s) 314 and UAV(s) 304.

Numerous variations on and alternatives to the illustrated configurationof the UAV system 300 are possible. For example, in some embodiments, auser of the remote device 306 could request delivery of a packagedirectly from the central dispatch system 310. To do so, an applicationmay be implemented on the remote device 306 that allows the user toprovide information regarding a requested delivery, and generate andsend a data message to request that the UAV system 300 provide thedelivery. In such an embodiment, the central dispatch system 310 mayinclude automated functionality to handle requests that are generated bysuch an application, evaluate such requests, and, if appropriate,coordinate with an appropriate local dispatch system 312 to deploy aUAV.

Further, some or all of the functionality that is attributed herein tothe central dispatch system 310, the local dispatch system(s) 312, theaccess system 302, and/or the deployment system(s) 314 may be combinedin a single system, implemented in a more complex system, and/orredistributed among the central dispatch system 310, the local dispatchsystem(s) 312, the access system 302, and/or the deployment system(s)314 in various ways.

Yet further, while each local dispatch system 312 is shown as having twoassociated deployment systems 314, a given local dispatch system 312 mayalternatively have more or fewer associated deployment systems 314.Similarly, while the central dispatch system 310 is shown as being incommunication with two local dispatch systems 312, the central dispatchsystem 310 may alternatively be in communication with more or fewerlocal dispatch systems 312.

In a further aspect, the deployment systems 314 may take various forms.In general, the deployment systems 314 may take the form of or includesystems for physically launching one or more of the UAVs 304. Suchlaunch systems may include features that provide for an automated UAVlaunch and/or features that allow for a human-assisted UAV launch.Further, the deployment systems 314 may each be configured to launch oneparticular UAV 304, or to launch multiple UAVs 304.

The deployment systems 314 may further be configured to provideadditional functions, including for example, diagnostic-relatedfunctions such as verifying system functionality of the UAV, verifyingfunctionality of devices that are housed within a UAV (e.g., a payloaddelivery apparatus), and/or maintaining devices or other items that arehoused in the UAV (e.g., by monitoring a status of a payload such as itstemperature, weight, etc.).

In some embodiments, the deployment systems 314 and their correspondingUAVs 304 (and possibly associated local dispatch systems 312) may bestrategically distributed throughout an area such as a city. Forexample, the deployment systems 314 may be strategically distributedsuch that each deployment system 314 is proximate to one or more payloadpickup locations (e.g., near a restaurant, store, or warehouse).However, the deployment systems 314 (and possibly the local dispatchsystems 312) may be distributed in other ways, depending upon theparticular implementation. As an additional example, kiosks that allowusers to transport packages via UAVs may be installed in variouslocations. Such kiosks may include UAV launch systems, and may allow auser to provide their package for loading onto a UAV and pay for UAVshipping services, among other possibilities. Other examples are alsopossible.

In a further aspect, the UAV system 300 may include or have access to auser-account database 316. The user-account database 316 may includedata for a number of user accounts, and which are each associated withone or more person. For a given user account, the user-account database316 may include data related to or useful in providing UAV-relatedservices. Typically, the user data associated with each user account isoptionally provided by an associated user and/or is collected with theassociated user's permission.

Further, in some embodiments, a person may be required to register for auser account with the UAV system 300, if they wish to be provided withUAV-related services by the UAVs 304 from UAV system 300. As such, theuser-account database 316 may include authorization information for agiven user account (e.g., a user name and password), and/or otherinformation that may be used to authorize access to a user account.

In some embodiments, a person may associate one or more of their deviceswith their user account, such that they can access the services of UAVsystem 300. For example, when a person uses an associated mobile phoneto, e.g., place a call to an operator of the access system 302 or send amessage requesting a UAV-related service to a dispatch system, the phonemay be identified via a unique device identification number, and thecall or message may then be attributed to the associated user account.Other examples are also possible.

V. Illustrative Payload Release Apparatuses

As discussed above, a UAV may include various types payload deliverysystems for lowering the payload to a target delivery location. In somecases, the payload may be coupled to a tether, and the UAV may lower thepayload to the ground by lowering the tether. The tether may include anapparatus for releasing the payload, such that the payload may bereleased on the ground, and the tether may be retracted back to the UAV.As further discussed above, an active payload release apparatus can addundesired size, weight, and complexity to the UAV, and a passive payloadrelease apparatus may help address these issues. However, a passivepayload release should also be reliable, avoiding early andunintentional release of the payload during flight to a deliverylocation and while the payload is being lowered to the ground via thetether. Illustrative embodiments may help to provide such reliablepassive payload release mechanisms.

FIG. 4 is an illustration of an example apparatus 400 for passivelyreleasing a payload 401. The apparatus 400 includes a housing 402. Asillustrated, the housing 402 may take the form of a cylindrical capsulewith rounded ends, but other shapes and forms are possible as well(e.g., an ellipsoid, sphere, cuboid, pyramid, cylinder, prism, cone,etc.). The housing 402 may include various materials including, but notlimited to, plastics, composites, metals, glass, wood, rubber, or anycombination thereof. The housing 402 may be coupled to a tether 404,which is operable to raise and lower the apparatus 400 with respect to aUAV.

A swing arm 406 may be coupled to the housing 402 at a pivot point 408proximate to a first end 410 of the swing arm 406. The swing arm 406 maybe coupled to the housing 402 by a mechanism that allows the swing arm406 to rotate at least partially around the pivot point 408 (e.g., usingany type of various pins, bolts, screws, etc.). The swing arm 406 maypartially rotate around the pivot point 408 such that the swing arm 406may be arranged in various positions.

In a closed position, a second end 412 of the swing arm 406, distal fromthe first end 410, is located within the housing 402. Throughout thisdisclosure, the “second” end 412 of the swing arm 406 may also bereferred to as the “distal” end 412 of the swing arm 406. In an openposition, the distal end 412 extends through an opening 414 of thehousing 402. The housing 402 may include two opposing openings 414 suchthat the swing arm 406 can rotate to extend the distal end 412 fromeither side of the housing 402.

The apparatus 400 may further include a spring mechanism 409 that biasesthe swing arm 406 to rotate back into the housing 402 when the payload401 is not applying a downward force on the swing arm 406. In otherwords, the spring mechanism 409 may apply a force on the swing arm 406that resists rotation of the swing arm 406 from the closed position tothe open position. For instance, as depicted in FIG. 4, the springmechanism 409 may take the form of a torsion spring that couples theswing arm 406 to the housing 402 at the pivot point 408. The torsionspring may be in a rest state when the swing arm 406 is in the closedposition (i.e., when the distal end 412 is located within the housing),and the torsion spring may be adapted to exert a force on the swing arm406 opposing rotational motion around the pivot point 408. Thus, whenthe swing arm 406 is in the open position, the torsion spring may exerta force on the swing arm 406 that is directed toward the closedposition. In some examples, the spring mechanism 409 may take on variousforms (e.g., an elastic band, a coil spring, a compression spring, anextension spring, etc.) and may be coupled between the swing arm 406 andthe housing 402 at various locations.

FIG. 4 illustrates the apparatus 400 in the open position. In the openposition, the distal end 412 of the swing arm 406 extends from thehousing 402 at an acute angle Θ with respect to a sidewall of thehousing 402. Thus, in the open position, the swing arm 406 forms a hookon which the payload 401 (e.g., a package containing one or more fooditems, medical items, or various other goods) may be attached. Thepayload 401 may include a tab 416 or some other attachment mechanism(e.g., a hook, a ring, etc.) for attaching to the swing arm 406. Inorder to attach to the swing arm 406, the payload tab 416 may include anopening 418 for receiving the swing arm 406.

As discussed above, the apparatus 400 may include a spring mechanism 409that forces the swing arm 406 toward the closed position. However, thepayload tab 416 may obstruct the opening 414 in the housing, therebypreventing the swing arm 406 from returning to the closed position.Additionally or alternatively, the payload 401 may have a sufficientweight to hold the swing arm 406 in the open position. For instance, theweight of the payload 401 may cause the payload tab 416 to exert a forceon the swing arm 406 that is equal to or greater than the force appliedby the spring mechanism 409 and in an opposite direction.

In order to prevent the payload tab 416 from detaching from (e.g.,sliding off of) the swing arm 406, the angle Θ may have a maximum valueless than 90 degrees. In some examples, the maximum value of the angle Θmay fall within the range of 30 to 60 degrees. In order to limit theangle Θ to such a maximum value, the apparatus 400 may include amechanism to limit, and/or be structurally designed to limit, therotation of the swing arm 406 around the pivot point 408. For instance,the swing arm 406 may include a slot 420 adapted to receive a pin 422,which may be integrated within the housing 402. As the swing arm 406rotates around the pivot point 408, the pin 422 may reach an end of theslot 420, thereby preventing further rotation of the swing arm 406 andlimiting the angle Θ to its maximum value. The slot 420 and pin 422 arefurther shown in FIGS. 5A and 5B. In some examples, the dimensions ofthe openings 414 in the housing 402 may be used to control the maximumvalue of the angle Θ. For instance, as the swing arm 406 rotates aroundthe pivot point 408, the swing arm 406 may contact the housing 402 at anedge of the opening 414, thereby preventing further rotation of theswing arm 406. Other examples are possible as well.

With the payload 401 attached to the swing arm 406 by the payload tab416, the apparatus 400 may be lowered from the UAV by the tether 404.For instance, the UAV may include a spool for winding and unwinding thetether 404. By winding the tether 404, the apparatus 400 may be raisedtoward the UAV, and by unwinding the tether 404, the apparatus 400 maybe lowered away from the UAV (e.g., to the ground).

Once the payload 401 has been completely lowered to the ground, theapparatus 400 may passively detach from the payload 401 by continuing tolower the apparatus 400 from the UAV. As the apparatus 400 is lowered,the payload 401 (and consequently the payload tab 416) remainsstationary on the ground. As discussed above, the spring mechanism 409applies a force on the swing arm 406 pulling the swing arm 406 towardthe closed position. Thus, by sufficiently lowering the apparatus 400with respect to the payload tab 416, the spring mechanism 409 causes thedistal end 412 of the swing arm 406 to retract through the opening 418of the payload tab 416 and into the housing 402 (i.e., to the closedposition) once the payload tab 416 no longer obstructs the opening 414of the housing 402.

As illustrated, for instance, the spring mechanism 409 may take the formof a torsion spring such that the weight of the payload 401 pulling downon the swing arm 406 applies a torque to the torsion spring, causing itto twist. Once the payload 401 no longer exerts a force on the swing arm406 (e.g., due to the payload 401 resting on the ground), the torsionspring may untwist and pull the swing arm 406 back into the housing 402.The spring mechanism 409 may take other various forms as well. Forinstance, the spring mechanism 409 may include a coiled spring such thatthe weight of the payload 401 exerts a compressive or tensile force onthe spring mechanism, and once the payload 401 no longer exerts a forceon the swing arm 406, the coiled spring may push or pull the swing arm406 back into the housing 402 by decompressing or unstretching.Similarly, the spring mechanism 409 may include an elastic band that maystretch under the weight of the payload 401 and pull the swing arm 406back into the housing 402 by unstretching once the payload 401 rests onthe ground.

When further unwinding the tether 404 and lowering the apparatus 400after the payload 401 reaches the ground, a downward gravitational forceand/or a downward inertial force due to the downward motion of theapparatus 400 cause the apparatus 400 to move downward with respect tothe payload tab 416, allowing the swing arm 406 to retract through theopening 418 of the payload tab 416. However, the spring mechanism 409applies a force to the swing arm 406 in the direction from the openposition to the closed position, effectively pinching the payload tab416 between the swing arm 406 and the housing 402. Thus, a springmechanism 409 with a particularly large spring constant may cause thepayload tab 416 to be pinched between the swing arm 406 and the housing402 with enough force to counteract the downward gravitational andinertial forces on the apparatus 400. This may prevent the apparatus 400from being lowered any further once the payload 401 reaches the groundsuch that the apparatus 400 may not detach from the payload 401.

Thus, in order for the apparatus 400 to passively detach from thepayload 401 once the payload 401 reaches the ground, a proper balancemay be obtained between a weight of the apparatus 400 and an amount offorce applied to the swing arm 406 by the spring mechanism 409. Forinstance, as the spring constant of the spring mechanism 409 isincreased, the weight of the apparatus 400 may also be increased suchthat the combined gravitational and inertial forces on the apparatus 400are larger than a frictional force caused by the payload tab 416 beingpinched between the swing arm 406 and the housing 402. Because it istypically desirable to avoid adding additional weight to a UAV, thespring constant of the spring mechanism 409 may be minimized such thatthe weight of the apparatus 400 may also be minimized. However, thespring constant of the spring mechanism 409 should be large enough tohold the swing arm 406 in the closed position when no other externalforces are applied to the swing arm 406.

Once the swing arm 406 has detached from the payload tab 416 andretracted into the housing 402, the apparatus 400 may be raised backtoward the UAV by winding the tether 404. In order to prevent theapparatus 400 from reattaching to the payload tab 416 or from snaggingon nearby objects, an outer surface of the housing may be substantiallysmooth or free of protrusions. Further, the opening 418 in the payloadtab 416 may have a height and/or width smaller than that of the housing402 in order to prevent the apparatus 400 from passing through theopening 418 and becoming tangled with the payload tab 416.

Referring next to FIGS. 5A and 5B, a cross-sectional view of an examplereceiving device 500 for receiving the apparatus 400 is illustrated. Thereceiving device 500 may be coupled to or integrated in a UAV. Forinstance, the receiving device 500 may take the form of a feature,compartment, or system in the body of a UAV. As such, the receivingdevice 500 can receive the apparatus 400 when the UAV raises theapparatus 400 by winding the tether 404. Pulling the apparatus 400 intothe receiving device 500 after delivery of the payload 401 maysignificantly increase the aerodynamics of the UAV. Improvedaerodynamics may extend the battery life and/or improve the fuel economyof the UAV, which in turn can extend the UAV's delivery range.

In practice, the receiving device 500 may include a hollow shaft 502having an inner diameter at least slightly larger than an outer diameterof the housing 402 such that the apparatus 400 may fit inside the shaft502 when the swing arm 406 is in the closed position as depicted in FIG.5A. As the UAV winds the tether 404, the apparatus 400 may be pulledfurther into the shaft 502 until a cam 504 of the swing arm 406 makescontact with a cam follower 506 of the receiving device 500.

As illustrated, the swing arm 406 may include one or more cams 504 thatextend through the one or more openings 414 of the housing 402 when theswing arm 406 is in the closed position. When the cam follower 506contacts the cam 504, the cam follower 506 may exert a force on the cam504 pushing the cam 504 towards the housing 402, thereby causing theswing arm 406 to rotate around the pivot point 408 until the swing arm406 is in the open position as depicted in FIG. 5B. In the openposition, the distal end 412 of the swing arm 406 may extend through theopening 414 of the housing 402 and through an opening in the shaft 502of the receiving device 500.

With the swing arm 406 in the open position in the receiving device 500,the payload 401 may be attached to the apparatus 400. For instance, thereceiving device 500 may include a slot 508 in which the payload tab 416may be inserted in the direction indicated by arrow 510. Inserting thepayload tab 416 into the slot 508 may cause the payload tab 416 tocontact the swing arm 406, forcing the swing arm 406 to rotate aroundthe pivot point 408 toward the closed position.

In order to allow the swing arm 406 to rotate, the cam follower 506 maytake the form of a spring-loaded cam follower having a spring 512. Whenthe payload tab 416 forces the swing arm 406 toward the closed position,the cam 504 may press against the cam follower 506 causing the spring512 to compress. Once the payload tab 416 is fully inserted into theslot 508 (e.g., once the distal end 412 of the swing arm 406 aligns withthe opening 418 of the payload tab 416), the swing arm 406 may return tothe open position. Specifically, the force of the cam follower 506against the cam 504 may cause the swing arm 406 to rotate around thepivot point 408 until the distal end 412 of the swing arm 406 extendsthrough the opening 418 of the payload tab 416 at an acute angle withrespect to the housing 402.

With the distal end 412 of the swing arm 406 extending through theopening 418 of the payload tab 416 at an acute angle with respect to thehousing 402, the swing arm 406 forms a hook on which the payload tab 416may hang. Thus, the UAV may deliver the payload 401 by lowering theapparatus 400 (and consequently the payload 401 hanging from theapparatus 400) from the receiving device 500 to a target location, atwhich point the apparatus 400 may detach from the payload 401 asdescribed above with reference to FIG. 4.

While the examples above describe the cam follower 506 of the receivingdevice 500 contacting the cam 504 of the swing arm 406, thereby causingthe swing arm 406 to extend through a particular side of the housing 402as a payload hook, the present disclosure contemplates similararrangements in which the cam follower 506 of the receiving device 500may contact the cam 504 of the swing arm 406, thereby causing the swingarm 406 to extend through the opposite side of the housing 402 as apayload hook. This may be arranged by rotating the apparatus 400 by 180degrees with respect to the receiving device 500.

Referring next to FIG. 6, another example apparatus 600 for passivelyreleasing a payload is illustrated. Similar to the apparatus 400depicted in FIG. 4, the apparatus 600 depicted in FIG. 6 may include ahousing 602 coupled to a UAV by a tether 604. However, rather than onlyhaving one swing arm, the apparatus 600 may include two swing arms 606,608 each adapted to rotate around one of two pivot points 610, 612. Theswing arms 606, 608 may be coupled by a spring 614 such that when thespring is in a rest position, the swing arms 606, 608 are in the closedposition (i.e., the distal ends of the swing arms 606, 608 are locatedwithin the housing 602). While the spring 614 is depicted as a standardcoil spring, in other examples it may take various forms including, butnot limited to, an extension spring, a compression spring, and elasticband, etc.

Further, the spring 614 may be adapted such that when one swing armrotates, the spring 614 causes the other swing arm to rotate in asimilar manner. For instance, when swing arm 606 rotates around pivotpoint 610, the spring 614 may cause swing arm 608 to rotate around pivotpoint 612 in a similar manner. Thus, as illustrated in FIG. 6, whenswing arm 608 rotates clockwise around pivot point 612 (e.g., when swingarm 608 is pressed further into the housing 602), the spring 614 maycause swing arm 606 to rotate clockwise around pivot point 610, therebyforcing swing arm 606 to extend from the housing 602 at an acute angle Θin the open position. Similarly, forcing swing arm 606 into the housing602 may cause swing arm 608 to extend from the housing 602 in the openposition. In some embodiments, the apparatus 600 may include a rigidmember, in addition to or in the alternative to the spring 614, coupledbetween the swing arms 606, 608 in order to sync the rotation of theswing arms 606, 608 around the pivot points 610, 612.

With the swing arm 606 in the open position (i.e., extending through anopening of the housing 602 at an acute angle with respect to the housing602), the swing arm 606 forms a hook on which a UAV payload may hang.Thus, the UAV may deliver the payload by lowering the apparatus 600 (andconsequently the payload hanging from the apparatus 600) to a targetlocation, at which point the apparatus 600 may detach from the payloadas described above with reference to the apparatus 400 depicted in FIG.4. Specifically, the UAV may continue to lower the apparatus 600 afterthe payload has reached the ground. A gravitational force, as well as aninertial force due to the downward motion of the apparatus 600, mayforce the apparatus 600 downward, causing the payload to detach from thehook formed by the swing arm 606. Without the weight of the payloadpulling on the swing arm 606, the spring 614 may return to its reststate, causing the swing arms 606, 608 to be arranged to the closedposition with their distal ends located inside the housing 602. The UAVmay then raise the apparatus 600 upwards toward the UAV by winding thetether 604.

As the apparatus 600 is raised into an opening in the lower side of theUAV by the tether, a receiving device, such as the receiving device 700,may receive the apparatus 600. Like the receiving device 500 depicted inFIGS. 5A and 5B, the receiving device 700 depicted in FIGS. 7A and 7Bmay include a hollow shaft 702 having an inner diameter at leastslightly larger than an outer diameter of the housing 602 such that theapparatus 600 may fit inside the shaft 702 when the swing arms 606, 608are in the closed position as depicted in FIG. 7A.

As the UAV winds the tether 604, the apparatus 600 may be pulled furtherinto the shaft 702 until a cam 704 of one of the swing arms 606, 608makes contact with a cam follower 706 of the receiving device 700. Asillustrated, the swing arms 606, 608 may include cams 704 that extendoutside of the housing 602 when the swing arms 606, 608 are in theclosed position. In some embodiments, the cam follower 706 may be aspring-loaded cam follower similar to the cam follower 506 depicted inFIGS. 5A and 5B. Alternatively, the cam follower 706 may be a rotatingelement, such as a wheel, adapted to make a rolling contact with the cam704, or the cam follower 706 may be a stationary element, such as asurface of the hollow shaft 702.

In the arrangement depicted in FIG. 7A, when the cam follower 706contacts the cam 704, the cam follower 706 may exert a force on the cam704 pushing the cam 704 towards the housing 602, thereby causing swingarm 608 to rotate around pivot point 612. This rotation of swing arm 608may compress the spring 614, causing the spring 614 to exert a force onswing arm 606. The force on swing arm 606 may cause swing arm 606 torotate around pivot point 610 until swing arm 608 is in the openposition as depicted in FIG. 7B. In the open position, the distal end ofswing arm 606 may extend through an opening of the housing 602 andthrough an opening in the shaft 702 of the receiving device 700.

With swing arm 606 in the open position in the receiving device 700, apayload may be attached to the apparatus 600. For instance, thereceiving device 700 may include a slot 708 in which a payload tab(e.g., the payload tab 416 depicted in FIG. 4) may be inserted in thedirection indicated by arrow 710. Inserting the payload tab into theslot 708 may cause the payload tab to contact swing arm 606, forcingswing arm 606 to rotate around pivot point 610 toward the closedposition.

With the cam follower 706 pressing swing arm 608 into the housing 602 onone side and the payload tab pressing swing arm 606 into the housing 602on the other side, the spring 614 coupled between the swing arms 606,608 may be compressed. Thus, once the payload tab is fully inserted intothe slot 708 (e.g., once the distal end of swing arm 606 aligns with anopening of the payload tab), the spring 614 may expand and cause swingarm 606 to return to the open position. Specifically, the force of thecam follower 706 against the cam 704 may prevent the spring 614 fromcausing swing arm 608 to rotate around pivot point 612 so that when thespring 614 expands only swing arm 606 rotates around pivot point 610. Inthis arrangement, the distal end of swing arm 606 extends through theopening of the payload tab at an acute angle with respect to the housing602.

When the distal end of swing arm 606 is positioned at an acute anglewith respect to the housing 602, the swing arm 606 forms a hook on whichthe payload tab may hang. Thus, the UAV may deliver the payload bylowering the apparatus 600 (and consequently the payload hanging fromthe apparatus 600) from the receiving device 700 to a target location,at which point the apparatus 600 may detach from the payload asdescribed above with reference to FIGS. 4 and 6.

While the examples above describe the cam follower 706 of the receivingdevice 700 contacting the cam 704 of swing arm 608, thereby pressingswing arm 608 into the housing 602 and causing swing arm 606 to extendfrom the housing as a payload hook, the present disclosure contemplatessimilar arrangements in which the cam follower 706 of the receivingdevice 700 may contact the cam 704 of swing arm 606, thereby pressingswing arm 606 into the housing 602 and causing swing arm 608 to extendfrom the housing as a payload hook. This may be arranged by rotating theapparatus 600 by 180 degrees with respect to the receiving device 700.

Referring back to FIGS. 5A, 5B, 7A, and 7B, in order for the camfollowers 506, 706 of the receiving devices 500, 700 to contact the cams504, 704 of the swing arms 406, 606, 608, the apparatuses 400, 600 mayneed to be properly aligned with the receiving devices 500, 700. Thus,the apparatuses 400, 600 and the receiving devices 500, 700 may includeone or more alignment mechanisms. FIGS. 8A and 8B illustrate suchalignment mechanisms, according to an example embodiment.

FIG. 8A depicts an example apparatus 800 that may be similar in form tothe apparatuses depicted in FIGS. 4 and 6, and FIG. 8B depicts anexample receiving device 850 for receiving the apparatus 800 that may besimilar in form to the receiving devices depicted in FIGS. 5A, 5B, 7A,and 7B.

The apparatus 800 may include a housing 802 having a first alignmentmechanism. The first alignment mechanism may include a protruding area804 that protrudes from the housing 802 and a recessed area 806 adjacentto the protruding area 804 that is recessed with respect to theprotruding area 804. A portion of the protruding area 804 may be definedby a first helical edge 808 and a second helical edge 810. Helical edge808 may be arranged along a portion of a helical path traversing aportion of the housing 802 at a first slope. Similarly, helical edge 810may be arranged along a portion of a helical path traversing a portionof the housing 802, but at a second slope opposite in direction from thefirst slope. In this manner, the helical edges 808, 810 may intersect atan apex 812 of the protruding area 804.

The recessed area 806 adjacent to the protruding area 804 may alsoinclude a first helical edge 814 and a second helical edge 816. Helicaledge 814 may be arranged along a portion of a helical path traversing aportion of the housing 802, and such a helical path may have a slopesimilar or equivalent to the slope of the helical path defined byhelical edge 808 of the protruding area 804. Similarly, helical edge 816may be arranged along a portion of a helical path traversing a portionof the housing 802, and such a helical path may have a slope similar orequivalent to the slope of the helical path defined by helical edge 810of the protruding area 804. In this manner, the helical paths defined byhelical edges 814, 816 may be arranged to intersect at an apex of therecessed area 806. However, as depicted in FIG. 8A, this intersectionpoint of the helical paths may coincide with an opening 818 in thehousing 802 through which a swing arm 820 may extend. Thus, the helicaledges 814, 816 of the recessed area 806 may not converge with oneanother.

In addition to the protruding area 804 and the recessed area 806, theapparatus 800 may further include a second protruding area (not shown)similar in design to the protruding area 804 located on a side of thehousing 802 directly opposite the protruding area 804, as well as asecond recessed area (not shown) similar in design to the recessed area806 located on a side of the housing 802 directly opposite the recessedarea 806. Such an arrangement of opposing protruding and recessed areasmay allow for the apparatus 800 to be aligned in one of two positionsrotationally offset from one another by 180 degrees, as discussed inmore detail below with reference to FIG. 8B.

As depicted in FIG. 8B, the receiving device 850 may include a hollowshaft 852 for receiving the apparatus 800, and the hollow shaft 852 mayinclude a second alignment mechanism adapted to interlock with the firstalignment mechanism of the apparatus 800. The second alignment mechanismmay include a protruding area 854 that protrudes from a surface of theshaft 852. Similar to the protruding area 804 of the apparatus 800, aportion of the protruding area 854 of the receiving device 850 may bedefined by a first helical edge 856 and a second helical edge 858.Helical edge 856 may be arranged along a portion of a helical pathhaving a first slope and traversing a portion of the shaft 852.Similarly, helical edge 858 may be arranged along a portion of a helicalpath having a second slope and traversing a portion of the shaft 852.The slopes of helical edges 856 and 858 may be similar or equivalent tothe slopes of helical edges 814 and 816, respectively, such that helicaledges 856 and 858 may intersect at an apex 860 of the protruding area854.

When the apparatus 800 is received by the receiving device 850 (e.g.,due to a UAV winding a tether coupled to the apparatus 800), thealignment mechanisms of the apparatus 800 and the receiving device 850may contact one another. In practice, an edge of the protruding area 854of the receiving device 850 may contact an edge of the protruding area804 of the apparatus 800. Based on the manner in which the protrudingareas 854, 804 contact one another, the apparatus 800 may rotate withinthe receiving device 850 until the alignment mechanisms interlock, thatis, when the protruding area 854 of the receiving device 850 aligns withthe recessed area 806 of the apparatus 800.

As the apparatus 800 is pulled into the receiving device 850, thealignment mechanism of the receiving device 850 may align with variousportions of the alignment mechanism of the apparatus 800. In oneexample, as depicted in FIG. 8B, apex 860 may align with theintersection point of the helical paths associated with helical edges814 and 816. In this case, the apparatus 800 may not rotate at all, asthe alignment mechanisms are already aligned such that protruding area854 may interlock with recessed area 806. In another example, apex 860may align with helical edge 808. In this case, helical edges 808 and 856may contact one another, and their helical shapes may cause theapparatus 800 to rotate clockwise until protruding area 854 aligns withand interlocks with recessed area 806. In yet another example, apex 860may align with helical edge 810. In this case, helical edges 810 and 858may contact one another, and their helical shapes may cause theapparatus 800 to rotate counterclockwise until protruding area 854aligns with and interlocks with the recessed area (not shown) that isopposite from recessed area 806. Other examples are possible as well.

In some examples, one of the protruding areas of the apparatus 800(e.g., the first protruding area 804 or the opposing second protrudingarea (not shown)) may include a rounded apex. For instance, asillustrated, apex 812 includes a sharp edge at the intersection ofhelical edges 808 and 810. The second protruding area on the oppositeside of the apparatus 800, on the other hand, may have helical edgesthat intersect to form a less sharp and more rounded apex. In such anexample, the sharp apex 812 may engage a portion of protruding area 854of the receiving device 850 before the rounded apex engages an opposingprotruding area. This may help prevent situations in which theprotruding areas of the apparatus 800 engage the protruding areas of thereceiving device 850 on the same side of the helical features of thereceiving device 850, which may cause the apparatus 800 to be pushed toone side of the hollow shaft 852 and jam rather than rotating theapparatus 800 into alignment.

When the alignment mechanisms of the apparatus 800 and the receivingdevice 850 interlock with one another, a cam follower 862 of thereceiving device 850 may align with a cam 822 of the swing arm 820. Thecam follower 862 may contact the cam 822, causing the swing arm 820 torotate and extend outside of the housing 802, as discussed above withreference to FIGS. 5A and 5B, such that the swing arm 820 forms a hookon which a payload of the UAV may be attached. Further, while FIGS. 8Aand 8B illustrate an apparatus having one swing arm 820, in otherexamples the apparatus 800 may have two swing arms, as depicted in FIGS.6-7B.

VII. Conclusion

While various aspects of the disclosure have been disclosed herein,other aspects and embodiments will be apparent to those skilled in theart. Accordingly, the embodiments disclosed herein are for purposes ofillustration, and are not intended to be limiting, with the true scopeand spirit of the disclosure being indicated by the following claims.

What is claimed is:
 1. An apparatus comprising: a housing; a first swingarm coupled to the housing proximate to a first end of the first swingarm, wherein the first swing arm is operable to toggle between a firstopen position and a first closed position, wherein the first closedposition locates a second end of the first swing arm within the housing,wherein the first open position exposes the second end of the firstswing arm outside the housing at an acute angle with respect to a firstsidewall of the housing such that the first swing arm is positioned tosecure a payload to the housing; a second swing arm coupled to thehousing proximate to a first end of the second swing arm, wherein thesecond swing arm is operable to toggle between a second open positionand a second closed position, wherein the second closed position locatesa second end of the second swing arm within the housing, wherein thesecond open position exposes the second end of the second swing armoutside the housing at an acute angle with respect to a second sidewallof the housing such that the second swing arm is positioned to securethe payload to the housing; a spring mechanism coupled between the firstand second swing arms, wherein the spring mechanism is in a rest statewhen the first and second swing arms are in the first and second closedpositions; a receiving system adapted to receive the housing, whereinthe receiving system contacts a cam of one of the first or second swingarms when receiving the housing, thereby causing the other of the firstor second swing arms to be arranged in its respective open position, andwherein the receiving system is further adapted to be coupled to anaerial vehicle; and a spool operable to unwind and wind a tether coupledto the housing, wherein unwinding the tether causes a descent of thehousing from the receiving system, and wherein winding the tether causesan ascent of the housing to the receiving system.
 2. The apparatus ofclaim 1, wherein the receiving system contacting the cam of the firstswing arm causes the spring mechanism to exert a force on the secondswing arm, and wherein the force is in a direction from the secondclosed position toward the second open position.
 3. The apparatus ofclaim 1, further comprising a rigid member coupled between the first andsecond swing arms, wherein the receiving system contacting the cam ofthe first swing arm causes the rigid member to exert a force on thesecond swing arm, and wherein the force is in a direction from thesecond closed position toward the second open position.
 4. The apparatusof claim 1, wherein the housing includes a first alignment feature andthe receiving system includes a second alignment feature, and whereinthe second alignment feature is adapted to interlock with the firstalignment feature when the receiving system receives the housing.
 5. Theapparatus of claim 4, wherein interlocking the first and secondalignment features causes the housing to be arranged such that thereceiving system contacts the cam of one of the first or second swingarms.
 6. The apparatus of claim 4, wherein interlocking the first andsecond alignment features aligns one of the first or second swing armswith an opening in the receiving system such that the second end of thealigned first or second swing arm extends through the opening when thealigned first or second swing arm is in its respective open position. 7.The apparatus of claim 4, wherein the first and second alignmentfeatures include opposing helical features, and wherein a helicalfeature of the housing contacting a helical feature of the receivingsystem causes the housing to rotate around a rotational axis of thehelical features until the first and second alignment featuresinterlock.
 8. The apparatus of claim 1, wherein the payload comprises atleast one tab coupled to at least one of the first or second swing armsto secure the payload before and during descent, and wherein the atleast one tab is adapted to decouple from the at least one of the firstor second swing arms upon complete descent of the payload.
 9. Theapparatus of claim 8, wherein a gravitational force on the housingcauses the at least one tab to decouple from the at least one of thefirst or second swing arms upon complete descent of the payload.
 10. Theapparatus of claim 8, wherein the spring mechanism causes the swing armto toggle to the closed position when the at least one tab of thepayload decouples from the swing arm.